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In-competition fixes
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All changes made quickly throughout RoboCup 2019
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@Finchiedev
Finchiedev committed Jul 8, 2019
1 parent e01b03b commit 19749f1
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Showing 4 changed files with 152 additions and 72 deletions.
175 changes: 116 additions & 59 deletions App/JS/client.js
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Original file line number Diff line number Diff line change
Expand Up @@ -63,17 +63,17 @@ function sleep(ms) {
var lastCameraVals = [0, 0]
var cameraLimits = [90, 180]

function moveCamera() {
var gamepad = navigator.getGamepads()[0];
if (gamepad.buttons[leftCameraButton].value > 0 && lastCameraVals[1] + cameraStep <= cameraLimits[1]) {
console.log('a')
clientSocket.send(`${lastCameraVals[0]},${lastVals[1] + cameraStep}`, 25565, '192.168.100.1');
lastVals[1] += cameraStep;
} else if (gamepad.buttons[rightCameraButton].value > 0 && lastCameraVals[1] - cameraStep >= 0) {
clientSocket.send(`${lastCameraVals[0]},${lastVals[1] - cameraStep}`, 25565, '192.168.100.1');
lastVals[1] -= cameraStep;
}
}
// function moveCamera() {
// var gamepad = navigator.getGamepads()[0];
// if (gamepad.buttons[leftCameraButton].value > 0 && lastCameraVals[1] + cameraStep <= cameraLimits[1]) {
// console.log('a')
// clientSocket.send(`${lastCameraVals[0]},${lastVals[1] + cameraStep}`, 25565, '10.0.0.10');
// lastVals[1] += cameraStep;
// } else if (gamepad.buttons[rightCameraButton].value > 0 && lastCameraVals[1] - cameraStep >= 0) {
// clientSocket.send(`${lastCameraVals[0]},${lastVals[1] - cameraStep}`, 25565, '10.0.0.10');
// lastVals[1] -= cameraStep;
// }
// }

var waiter = 10

Expand All @@ -93,17 +93,17 @@ async function moveGrabber(multiplier) {
} else {
grabberServos[parseInt(child.value) - 1] = false
}
// clientSocket.send(`${grabberValue}`, 25565, '192.168.100.1');
// clientSocket.send(`${grabberValue}`, 25565, '10.0.0.10');
}
if (grabberServos == [true, true, true]) {
await sleep(waiter)
clientSocket.send(`${grabberValue}`, 25565, '192.168.100.1')
clientSocket.send(`${grabberValue}`, 25565, '10.0.0.10')
}

for (var i = 0; i < 3; i++) {
if (grabberServos[i] == true) {
await sleep(waiter);
clientSocket.send(`${i+1}i${grabberValue}`, 25565, '192.168.100.1');
clientSocket.send(`${i+1}i${grabberValue}`, 25565, '10.0.0.10');
}
}
resolve;
Expand All @@ -119,32 +119,32 @@ async function moveGrabber(multiplier) {
// }
// }

document.onkeydown = async function(e) {
var key = e.key;
if (key == "ArrowLeft") {
// sendWheelValue(11, -1024);
clientSocket.send('111024', 9999, '192.168.100.1');
} else if (key == "ArrowRight") {
clientSocket.send('11-1024', 9999, '192.168.100.1');
} else if (key == "ArrowDown" && grabberValue > 0) {
// grabberValue -= grabberStep;
updateGrabberState();
await moveGrabber(-1);
// clientSocket.send(`${grabberValue}`, 25565, '192.168.100.1');
} else if (key == "ArrowUp" && grabberValue < 60) {
// grabberValue += grabberStep;
updateGrabberState();
await moveGrabber(1);
// clientSocket.send(`${grabberValue}`, 25565, '192.168.100.1');
}
}
// document.onkeydown = async function(e) {
// var key = e.key;
// if (key == "ArrowLeft") {
// // sendWheelValue(11, -1024);
// clientSocket.send('111024', 9999, '10.0.0.10');
// } else if (key == "ArrowRight") {
// clientSocket.send('11-1024', 9999, '10.0.0.10');
// } else if (key == "ArrowDown" && grabberValue > 0) {
// // grabberValue -= grabberStep;
// updateGrabberState();
// await moveGrabber(-1);
// // clientSocket.send(`${grabberValue}`, 25565, '10.0.0.10');
// } else if (key == "ArrowUp" && grabberValue < 60) {
// // grabberValue += grabberStep;
// updateGrabberState();
// await moveGrabber(1);
// // clientSocket.send(`${grabberValue}`, 25565, '10.0.0.10');
// }
// }

document.onkeyup = async function(e) {
var key = e.key;
if (key == "ArrowLeft" || key == "ArrowRight") {
clientSocket.send('110', 9999, '192.168.100.1');
}
}
// document.onkeyup = async function(e) {
// var key = e.key;
// if (key == "ArrowLeft" || key == "ArrowRight") {
// clientSocket.send('110', 9999, '10.0.0.10');
// }
// }

function grabberDirection(G_M) {grabberMultipler = G_M;}

Expand All @@ -156,9 +156,9 @@ function sendWithCheck(message, port, ip) {
}
}
// Tells the server to restart the dynamixels through the relay circuit.
function restart() {sendWithCheck("restart", 9999, '192.168.100.1');}
function restart() {sendWithCheck("restart", 9999, '10.0.0.10');}

function softwareResetServos() {sendWithCheck("softwareResetServos", 9999, '192.168.100.1');}
function softwareResetServos() {sendWithCheck("softwareResetServos", 9999, '10.0.0.10');}

/**
* Moves any dynamixel that has been assigned jointMode in terms of\
Expand All @@ -183,15 +183,22 @@ function moveJointWithPercentage(ID, percentage) {
if (ID == 10) {
destination = (percentage * 476) / 100;
}
if (ID == 12) {
destination = (percentage * 1023) / 100
}
// console.log(flipperJointLimits[ID])
// Ensures sent servo destination data fits within their limits.
if(destination > flipperJointLimits[ID-5][1]) {destination = flipperJointLimits[ID-5][1];}
if(destination < flipperJointLimits[ID-5][0]) {destination = flipperJointLimits[ID-5][0];}
if(destination > flipperJointLimits[ID][1]) {destination = flipperJointLimits[ID][1];}
if(destination < flipperJointLimits[ID][0]) {destination = flipperJointLimits[ID][0];}
if (ID < 9) {
sendWithCheck(`0${ID} ${destination} 200`, 9999, '192.168.100.1');
sendWithCheck(`0${ID} ${destination} 200`, 9999, '10.0.0.10');
} else if (ID == 9) {
sendWithCheck(`09 ${destination} 1024`, 9999, '192.168.100.1');
sendWithCheck(`09 ${destination} 1024`, 9999, '10.0.0.10');
} else if (ID == 12 || ID == 13) {
console.log(destination)
sendWithCheck(`${ID} ${destination} 100`, 9999, '127.0.0.1');
} else {
sendWithCheck(`${ID} ${destination} 200`, 9999, '192.168.100.1');
sendWithCheck(`${ID} ${destination} 200`, 9999, '10.0.0.10');
}
}

Expand All @@ -214,7 +221,7 @@ function changeFlipperSelection() {
*/
function sendWheelValue(dynamixel, val) {
if (!(lastVals[dynamixel] == val)) {
sendWithCheck(`0${dynamixel}${val}`, 9999, '192.168.100.1');
sendWithCheck(`0${dynamixel}${val}`, 9999, '10.0.0.10');
lastVals[dynamixel] = val;
}
}
Expand Down Expand Up @@ -333,6 +340,37 @@ var flipperDirection = document.getElementById('flipperDirection');
var leftWheelDirection = document.getElementById('leftWheelsDirection');
var rightWheelDirection = document.getElementById('rightWheelsDirection');

function centerCamera() {
clientSocket.send('10 1023 200', 9999, '10.0.0.10')
lastVals[10] = 1023
clientSocket.send('12 512 200', 9999, '10.0.0.10')
lastVals[12] = 512
clientSocket.send('13 816 200', 9999, '10.0.0.10')
lastVals[13] = 816
}

function cameraLeft() {
clientSocket.send('12 0 200', 9999, '10.0.0.10')
lastVals[12] = 0
}

function cameraRight() {
clientSocket.send('12 1023 200', 9999, '10.0.0.10')
lastVals[12] = 1023
}

function panCamera(ID, leftButton, rightButton) {
var gamepad = navigator.getGamepads()[0];
if (gamepad.buttons[leftButton].value > 0 && lastVals[ID] + 5 <= flipperJointLimits[ID][1]) {
console.log(lastVals[ID] + 5)
moveJointWithPercentage(ID, lastVals[ID] + 5)
lastVals[ID] += 5
} else if (gamepad.buttons[rightButton].value > 0 && lastVals[ID] - 5 >= flipperJointLimits[ID][0]) {
moveJointWithPercentage(ID, lastVals[ID] - 5)
lastVals[ID] -= 5
}
}

/**
* Writes the default values to the server
*/
Expand All @@ -353,6 +391,11 @@ async function writeDefaultValues() {
moveJointWithPercentage(10, 100);
lastVals[10] = 100;

centerCamera()

// moveJointWithPercentage(11, 50);
// lastVals[11] = 50;

grabberValue = 0;
moveGrabber(1);

Expand All @@ -361,8 +404,8 @@ async function writeDefaultValues() {
rightWheelDirection.innerHTML = 'Right wheels: forwards'

setTimeout(function() {
clientSocket.send('10,100', 25565, '192.168.100.1')
lastCameraVals = [10, 100]
clientSocket.send('165,100', 25565, '10.0.0.10')
lastCameraVals = [165, 100]
}, 100)
}

Expand All @@ -386,6 +429,8 @@ async function pollGamepad(gamepad, sticks = false) {
moveFlipper(8, 3);
moveArm(9, 3, 2);
moveWrist(10, 1, 0);
panCamera(12, 14, 15)
// moveJointWithPercentage(11,50);

// moveCamera()
context.beginPath();
Expand All @@ -396,20 +441,19 @@ async function pollGamepad(gamepad, sticks = false) {
}

function moveStraight() {
clientSocket.send('01300', 9999, '192.168.100.1')
clientSocket.send('03300', 9999, '192.168.100.1')
clientSocket.send('02-300', 9999, '192.168.100.1')
clientSocket.send('04-300', 9999, '192.168.100.1')
clientSocket.send('011024', 9999, '10.0.0.10')
clientSocket.send('031024', 9999, '10.0.0.10')
clientSocket.send('02-1024', 9999, '10.0.0.10')
clientSocket.send('04-1024', 9999, '10.0.0.10')
}

function stop() {
clientSocket.send('010', 9999, '192.168.100.1')
clientSocket.send('030', 9999, '192.168.100.1')
clientSocket.send('020', 9999, '192.168.100.1')
clientSocket.send('040', 9999, '192.168.100.1')
clientSocket.send('010', 9999, '10.0.0.10')
clientSocket.send('030', 9999, '10.0.0.10')
clientSocket.send('020', 9999, '10.0.0.10')
clientSocket.send('040', 9999, '10.0.0.10')
}

// client.connect(5000, '192.168.100.1', function() {
// client.connect(5000, '10.0.0.10', function() {
// console.log("Connected to server interface");
// })
//
Expand All @@ -418,6 +462,7 @@ function stop() {
// console.log(`Wrote '${data}' to server`);
// }
let gamepadInterval;
console.log(lastVals)
writeDefaultValues();
window.addEventListener('gamepadconnected', function(event) {
gamepadInterval = setInterval(() => {
Expand All @@ -440,6 +485,7 @@ window.addEventListener('gamepadconnected', function(event) {
} else if(!gamepad.buttons[5].pressed){
multipliers[0][0] = false;
}


if (gamepad.buttons[4].pressed && !multipliers[1][0]) {
multipliers[1][1] *= -1;
Expand All @@ -463,6 +509,17 @@ window.addEventListener('gamepadconnected', function(event) {

changeFlipperSelection();
}
// if (gamepad.buttons[15].pressed) {
// lastVals[11] = lastVals[11] - 10

// moveJointWithPercentage(11,lastVals[11]);
// }
// if (gamepad.buttons[14].pressed) {
// lastVals[11] = lastVals[11] - 10

// moveJointWithPercentage(11,lastVals[11]);
// }

else if(!gamepad.buttons[8].pressed) {
b_button_state = false;
}
Expand Down
19 changes: 11 additions & 8 deletions App/JS/main.js
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Original file line number Diff line number Diff line change
Expand Up @@ -20,14 +20,17 @@ var flipperSelect = true // true: front flippers | false: back flippers
let gamepad;

// Flipper limits are set inside the client, to avoid fake [Overload] Errors occuring on the server side.
var flipperJointLimits = [
[1323,3372], // ID: 5 | Model: MX-28
[1323,3372], // ID: 6 | Model: MX-28
[1023,3072], // ID: 7 | Model: MX-28
[1023,3072], // ID: 8 | Model: MX-28
[200,2560], // ID: 9 | Model: MX-28
[0,476], // ID: 10 | Model: AX-12
]
var flipperJointLimits = {
5: [1323,3372], // ID: 5 | Model: MX-28
6: [1323,3372], // ID: 6 | Model: MX-28
7: [1023,3072], // ID: 7 | Model: MX-28
8: [1023,3072], // ID: 8 | Model: MX-28
9: [200,2560], // ID: 9 | Model: MX-28
10: [512, 1024], // ID: 10 | Model: AX-12
12: [0, 1023], // ID: 12 | Model: XL-320
13: [205, 816] // ID: 13 | Model: XL-320
// [0,1023], // ID: 10 | Model: AX-12
}
var b_button_state = false;
var grabberMultipler = 0;
var grabberStep = 1;
Expand Down
17 changes: 12 additions & 5 deletions App/index.html
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Original file line number Diff line number Diff line change
Expand Up @@ -9,14 +9,21 @@
<div class="main">
<h1 class="text" id="main-header">Dashboard - Robotics GUI</h1>
<p id="marker"></p>
<img src="http://192.168.100.1:8080" width="auto" height="auto"></img>
<canvas id="flippers" width="640" height="360"></canvas>
<div class="slidecontainer">
<button type="button" name="move" onclick="moveStraight()">Move forward</button>
<button type="button" name="button" onclick="stop()">Stop</button>
<!-- <iframe src="http://localhost:5000" width="960" height="720" style="display:inline-block"></iframe> -->
<img src="http://10.0.0.10:8080" width="auto" height="auto"></img>
<canvas id="flippers" width="350" height="300" style="display:inline-block"></canvas>
<div style="display:inline-block">
<p id="leftWheelsDirection">Left wheels: forwards</p>
<p id="rightWheelsDirection">Right wheels: forwards</p>
<p id="flipperDirection">Flippers: front</p>
</div>
<div class="slidecontainer">
<button type="button" name="lookLeft" onclick="cameraLeft()">Look left</button>
<button type="button" name="lookCenter" onclick="centerCamera()">Center the camera</button>
<button type="button" name="move" onclick="cameraRight()">Look right</button>

<button type="button" name="move" onclick="moveStraight()">Move forward</button>
<button type="button" name="button" onclick="stop()">Stop</button>
<h4>Grabber Direction </h4>
<p id="grabberPositionDisplay">Grabber position: 0%</p>
<form id="grabberParent">
Expand Down
13 changes: 13 additions & 0 deletions main.js
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,19 @@ function createWindow() {
win.on('closed', () => {
win = null;
});
win2 = new BrowserWindow({
width: 1600,
height: 1200
});
win2.loadFile('App/loading.html');
setTimeout(function() {
win2.loadFile('App/charts.html');
}, 3000)
// win.loadURL('http://localhost:8080')

win2.on('closed', () => {
win2 = null;
});
}

app.on('ready', createWindow);
Expand Down

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